2R Robotic Arm- Simulation

%Forward Kinematics 2R Robotic Arm

clear all
close all
clc
%Inputs

l1=1;
l2=0.5;
theta1=linspace(0,90,10);
theta2=linspace(0,90,10);

ct=1;
for i=1:length(theta1)
THETA1=theta1(i);
for j=1:length(theta2)
THETA2=theta2(j);

x0=0;
y0=0;


x1 = l1*cosd(THETA1);
y1 = l1*sind(THETA1);

x2 = x1 + l2*cosd(THETA2);
y2 = y1 + l2*sind(THETA2);

%plotting




plot([x0 x1],[y0 y1],[x1 x2],[y1 y2],\'linewidth\',3);
axis([-0.1 1.5 0 1.5])

pause(0.03)

%Animation
    
    file_text=sprintf(\"robot_arm%d.png\",ct) %sequence of images
    
    saveas(gca,file_text); 
    ct=ct+1;
    hold off;

end
end

https://drive.google.com/open?id=1u8Cl1mriMdGFPVs2vMBgRIQoqN_tcHPh

This is the link for the animation of the 2 R Robotic arm